Adaptive fixed-time tracking control for a class of nonlinear pure-feedback systems: A relative threshold event-triggered strategy

Zhu, Qiangqiang; Niu, Ben; Zhang, Guangju; Li, Shengtao; Duan, Peiyong

doi:10.1016/j.isatra.2021.05.006

Cited by 8 publications

(5 citation statements)

References 47 publications

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“…The error-constrained and relative threshold ETM used in this article can be applied not only to ship models but also to standard second-order or higher-order nonlinear systems. [31][32][33]40 To ensure a reasonable limitation on the error, this article divides the upper and lower bounds of the error into two constants: larger and smaller. We choose a larger constant constraint for 100 s before the start of path following (the switching from collision avoidance mode to path-following mode is also the start of path following) and the entire phase of the collision avoidance model.…”

Section: Simulation Analysismentioning

confidence: 99%

Section: Stability Analysismentioning

confidence: 99%

“…The current ETM is mainly divided into fixed threshold ETM 38 and relative threshold ETM. 39,40 Relative threshold ETM can further increase the flexibility of the system by generating variable triggers threshold through the signal amplitude compared to fixed threshold ETM. Liu 41 presents a path following with event-triggered roll motion control of an underactuated ship, and the objective of roll motion control in the presented methodology is activated based on ETM.…”

Section: Introductionmentioning

confidence: 99%

“…Associated with the double-layer virtual ship guidance strategy, Zhang 42 has proposed a robust adaptive control algorithm for the unmanned surface vehicle by fusing the eventtriggered rule and the adaptive compensated technique. However, the above-mentioned event triggering [38][39][40] and error constraint methods [32][33][34][35] are mostly used in control systems and rarely used in LOS guidance. The main contributions of this article are as follows:…”

Section: Introductionmentioning

confidence: 99%

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Event-triggered error-constrained switching guidance-based marine surface vessel path-following control and collision avoidance

Li,

Shen,

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part I:

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For marine surface vessel with input saturation, model uncertainties, and unknown disturbances, this article proposes a path-following control and collision avoidance method based on error-constrained event-triggered switching line-of-sight guidance. This method can autonomously switch between path-following and collision avoidance modes, constrain the position and heading errors to satisfy safe navigation in confined waters, and reduce the computational frequency of the controller and the mechanical wear of the actuator. In the path-following mode, we construct an asymmetric modified barrier Lyapunov function to constrain the position errors and use the relative threshold event-triggered mechanism to reduce the update frequency of the guidance heading angle. In the collision avoidance mode, static or dynamic obstacles are avoided through the response of collision avoidance radius. In the heading and velocity control design, asymmetric modified barrier Lyapunov function and event-triggered mechanism are also applied, so that the marine surface vessel can track the guided heading angle and meet the heading error-constrained while reducing the update frequency of the controller. The adaptive auxiliary systems are used to compensate for the input saturation, and radial basis function neural networks and adaptive laws are used to approximate the model uncertainties and composite disturbances. According to the Lyapunov stability theory, all signals are semi-globally uniformly ultimately bounded and the Zeno phenomenon is avoided. Finally, the comparative experiment shows the superiority of the designed control strategy.

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Section: Simulation Analysismentioning

confidence: 99%

Section: Stability Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Event-triggered error-constrained switching guidance-based marine surface vessel path-following control and collision avoidance

Li,

Shen,

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…Therefore, research on the ETC problems of pure-feedback systems is of great significance. In [19], a fixed-time controller under an event-triggering mechanism (ETM) is designed for a class of pure-feedback systems with non-differentiable and non-affine functions. The ETC problems of pure-feedback systems with constraints are studied in [20][21][22][23].…”

Section: Introductionmentioning

confidence: 99%

Event-Triggered Adaptive Neural Network Tracking Control with Dynamic Gain and Prespecified Tracking Accuracy for a Class of Pure-Feedback Systems

Liu

2022

Symmetry

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This paper studies the event-triggered adaptive tracking control problem of a class of pure-feedback systems. Via the backstepping method and the neural network approximation with the central symmetric distribution, an event-triggered adaptive neural network controller is designed. In particular, a dynamic gain driven by the tracking error is introduced into the event-triggering mechanism. Then, by using the Lyapunov stability theory, the boundedness of all the closed-loop signals is proved, and the tracking error falls into a prespecified ϵ-neighbourhood of zero. Meanwhile, the Zeno behaviour is avoided. Finally, two simulations verify the effectiveness of the proposed control scheme.

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Event‐triggered practical tracking control via switching for a class of uncertain high‐order nonlinear systems with unknown input powers and control directions

Li,

Liang,

et al. 2024

Intl J Robust & Nonlinear

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This article is devoted to the event‐triggered practical tracking control for a class of high‐order nonlinear systems with serious uncertainties. Remarkably, the serious uncertainties are greatly reflected from the unknown control directions and input powers which give rise to essential obstacles in control design and hence lead to incapability of the traditional control methods on this topic. To solve the control problem, a novel switching event‐triggered control scheme is proposed by a skillful incorporation of logic‐based switching mechanism into the event‐triggered one. Specifically, two pivotal events are smartly chosen to give the event‐triggered mechanism for the determination of the sampling times. In particular, one of the events is used to give the switching varying mechanism, by which the controller parameters are respectively switched in two groups of sequences which are carefully chosen for the compensation of serious uncertainties. Under the proposed switching event‐triggered mechanism, a state‐feedback controller is designed which guarantees that all the signals of the closed‐loop system are bounded while system output practically tracks the reference signal, along with a finite number of switching of controller parameters as well as the exclusion of the Zeno phenomenon. Finally, simulation examples are provided to validate the effectiveness of the proposed theoretical results.

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Adaptive fixed-time tracking control for a class of nonlinear pure-feedback systems: A relative threshold event-triggered strategy

Cited by 8 publications

References 47 publications

Event-triggered error-constrained switching guidance-based marine surface vessel path-following control and collision avoidance

Event-triggered error-constrained switching guidance-based marine surface vessel path-following control and collision avoidance

Event-Triggered Adaptive Neural Network Tracking Control with Dynamic Gain and Prespecified Tracking Accuracy for a Class of Pure-Feedback Systems

Event‐triggered practical tracking control via switching for a class of uncertain high‐order nonlinear systems with unknown input powers and control directions

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